238 lines
7.9 KiB
C++
Executable file
238 lines
7.9 KiB
C++
Executable file
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Source: FGExternalForce.cpp
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Author: Jon Berndt, Dave Culp
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Date started: 9/21/07
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------------- Copyright (C) 2007 Jon S. Berndt (jsb@hal-pc.org) -------------
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This program is free software; you can redistribute it and/or modify it under
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the terms of the GNU Lesser General Public License as published by the Free Software
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Foundation; either version 2 of the License, or (at your option) any later
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version.
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This program is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
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details.
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You should have received a copy of the GNU Lesser General Public License along with
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this program; if not, write to the Free Software Foundation, Inc., 59 Temple
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Place - Suite 330, Boston, MA 02111-1307, USA.
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Further information about the GNU Lesser General Public License can also be found on
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the world wide web at http://www.gnu.org.
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HISTORY
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--------------------------------------------------------------------------------
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9/21/07 JB Created
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<external_reactions>
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<!-- Interface properties, a.k.a. property declarations -->
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<property> ... </property>
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<force name="name" frame="BODY|LOCAL|WIND">
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<function> ... </function>
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<location unit="units"> <!-- location -->
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<x> value </x>
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<y> value </y>
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<z> value </z>
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</location>
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<direction> <!-- optional for initial direction vector -->
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<x> value </x>
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<y> value </y>
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<z> value </z>
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</direction>
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</force>
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</external_reactions>
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*/
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#include "FGExternalForce.h"
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namespace JSBSim {
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static const char *IdSrc = "$Id$";
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static const char *IdHdr = ID_EXTERNALFORCE;
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGExternalForce::FGExternalForce(FGFDMExec *FDMExec, Element *el, int index): FGForce(FDMExec)
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{
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Element* location_element=0;
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Element* direction_element=0;
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Element* function_element=0;
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string sFrame;
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string BasePropertyName;
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FGColumnVector3 location;
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Magnitude_Function = 0;
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magnitude = 0.0;
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azimuth = 0.0;
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PropertyManager = fdmex->GetPropertyManager();
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Name = el->GetAttributeValue("name");
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BasePropertyName = "external_reactions/" + Name;
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// The value sent to the sim through the external_forces/{force name}/magnitude
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// property will be multiplied against the unit vector, which can come in
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// initially in the direction vector. The frame in which the vector is defined
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// is specified with the frame attribute. The vector is normalized to magnitude 1.
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function_element = el->FindElement("function");
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if (function_element) {
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Magnitude_Function = new FGFunction(PropertyManager, function_element);
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} else {
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PropertyManager->Tie( BasePropertyName + "/magnitude",(FGExternalForce*)this, &FGExternalForce::GetMagnitude, &FGExternalForce::SetMagnitude);
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Magnitude_Node = PropertyManager->GetNode(BasePropertyName + "/magnitude");
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}
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// Set frame (from FGForce).
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sFrame = el->GetAttributeValue("frame");
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if (sFrame.empty()) {
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cerr << "No frame specified for external force, \"" << Name << "\"." << endl;
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cerr << "Frame set to Body" << endl;
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ttype = tNone;
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} else if (sFrame == "BODY") {
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ttype = tNone;
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} else if (sFrame == "LOCAL") {
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ttype = tLocalBody;
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PropertyManager->Tie( BasePropertyName + "/azimuth", (FGExternalForce*)this, &FGExternalForce::GetAzimuth, &FGExternalForce::SetAzimuth);
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} else if (sFrame == "WIND") {
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ttype = tWindBody;
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} else {
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cerr << "Invalid frame specified for external force, \"" << Name << "\"." << endl;
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cerr << "Frame set to Body" << endl;
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ttype = tNone;
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}
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PropertyManager->Tie( BasePropertyName + "/x", (FGExternalForce*)this, &FGExternalForce::GetX, &FGExternalForce::SetX);
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PropertyManager->Tie( BasePropertyName + "/y", (FGExternalForce*)this, &FGExternalForce::GetY, &FGExternalForce::SetY);
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PropertyManager->Tie( BasePropertyName + "/z", (FGExternalForce*)this, &FGExternalForce::GetZ, &FGExternalForce::SetZ);
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location_element = el->FindElement("location");
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if (!location_element) {
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cerr << "No location element specified in force object." << endl;
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} else {
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location = location_element->FindElementTripletConvertTo("IN");
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SetLocation(location);
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}
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direction_element = el->FindElement("direction");
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if (!direction_element) {
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cerr << "No direction element specified in force object. Default is (0,0,0)." << endl;
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} else {
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vDirection = direction_element->FindElementTripletConvertTo("IN");
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vDirection.Normalize();
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}
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Debug(0);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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// Copy constructor
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FGExternalForce::FGExternalForce(const FGExternalForce& extForce) : FGForce(extForce)
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{
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magnitude = extForce.magnitude;
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Frame = extForce.Frame;
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vDirection = extForce.vDirection;
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Name = extForce.Name;
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BasePropertyName = extForce.BasePropertyName;
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PropertyManager = extForce.PropertyManager;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGExternalForce::~FGExternalForce()
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{
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unbind( PropertyManager->GetNode("external_reactions"));
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Debug(1);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGExternalForce::SetMagnitude(double mag)
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{
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magnitude = mag;
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vFn = vDirection*mag;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGColumnVector3& FGExternalForce::GetBodyForces(void)
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{
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if (Magnitude_Function) {
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double mag = Magnitude_Function->GetValue();
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SetMagnitude(mag);
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}
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return FGForce::GetBodyForces();
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGExternalForce::unbind(FGPropertyManager *node)
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{
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int N = node->nChildren();
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for (int i=0; i<N; i++) {
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if (node->getChild(i)->nChildren() ) {
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unbind( (FGPropertyManager*)node->getChild(i) );
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} else if ( node->getChild(i)->isTied() ) {
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node->getChild(i)->untie();
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}
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}
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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// The bitmasked value choices are as follows:
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// unset: In this case (the default) JSBSim would only print
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// out the normally expected messages, essentially echoing
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// the config files as they are read. If the environment
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// variable is not set, debug_lvl is set to 1 internally
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// 0: This requests JSBSim not to output any messages
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// whatsoever.
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// 1: This value explicity requests the normal JSBSim
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// startup messages
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// 2: This value asks for a message to be printed out when
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// a class is instantiated
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// 4: When this value is set, a message is displayed when a
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// FGModel object executes its Run() method
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// 8: When this value is set, various runtime state variables
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// are printed out periodically
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// 16: When set various parameters are sanity checked and
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// a message is printed out when they go out of bounds
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void FGExternalForce::Debug(int from)
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{
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if (debug_lvl <= 0) return;
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if (debug_lvl & 1) { // Standard console startup message output
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if (from == 0) { // Constructor
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cout << " " << Name << endl;
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cout << " Frame: " << Frame << endl;
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cout << " Location: (" << vXYZn(eX) << ", " << vXYZn(eY) << ", " << vXYZn(eZ) << ")" << endl;
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}
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}
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if (debug_lvl & 2 ) { // Instantiation/Destruction notification
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if (from == 0) cout << "Instantiated: FGExternalForce" << endl;
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if (from == 1) cout << "Destroyed: FGExternalForce" << endl;
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}
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if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
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}
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if (debug_lvl & 8 ) { // Runtime state variables
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}
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if (debug_lvl & 16) { // Sanity checking
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}
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if (debug_lvl & 64) {
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if (from == 0) { // Constructor
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cout << IdSrc << endl;
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cout << IdHdr << endl;
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}
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}
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}
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}
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